Crate repose_motion_planning

Expand description

Planner-agnostic joint-space motion planning for copper-rs.

Every planner — sampling-based (RRT*, PRM, …), optimization-based (CHOMP/TrajOpt style), search-based, or direct — implements one trait, CuJointPlanner, and runs inside one Copper task, CuJointPlannerTask. The task owns the anytime base/refine contract, publishing, seeding, and replay state, so a planner only has to answer: build itself from validated parameters (CuJointPlanner::new), start a job (CuJointPlanner::begin), do a bounded quantum of work (CuJointPlanner::step), and write its best path in place (CuJointPlanner::write_best).

Requests and results are planner-neutral payloads: CuJointPlanRequest carries the planning scene, exclusions, start and goal; CuJointPlanPath carries the path, its cost, the scene revision it was planned against, and an explicit CuPlanStatus — failures such as an invalid start or an exhausted search are published, not silently dropped.

Built-in planners, each with a Cu<Planner>Params struct and a task alias:

Sampling: CuJointRrtConnect (CuJointRrtConnectTask; bidirectional, feasibility-first) and CuJointPrm (CuJointPrmTask; probabilistic roadmap, improving).
Search: CuJointAStar (CuJointAStarTask; A* on a joint-space lattice, resolution-complete).
Optimization: CuJointPathOptimizer (CuJointPathOptimizerTask; deterministic gradient, CHOMP-style) and CuJointStomp (CuJointStompTask; seeded stochastic rollouts).
Direct: CuJointDirect (CuJointDirectTask; straight joint line, one shot).

Every planner task has the same node config, CuJointPlannerParams; switching planners means changing the task type and the params block:

(
    id: "planner",
    type: "repose_motion_planning::CuJointPrmTask<6>",
    config: {
        "chain": "igus_rebel",
        "collision_model": "igus_rebel",
        "params": {"connection_radius": 1.5, "max_nodes": 512},
        "refine_budget": 16, // optional; default per planner
    },
)

A plan-and-execute graph needs no application code:

joint state ─► CuJointGoalTask ─► CuJoint<Planner>Task ─► CuPlanToTrajectoryTask ─► follower

CuJointGoalTask turns measured state and a configured goal into a request, and CuPlanToTrajectoryTask times each final path for repose_trajectory::CuFollowTrajectoryTask.

RRT* lives in repose-joint-rrt-star. Every planner shares CuSceneValidity for collision and clearance queries.

Modules§

planner_resources: Resources of CuJointPlannerTask: an owned rng that seeds jobs.

Macros§

impl_planner_type_path: Implements [TypePath] for a const-generic planner $ty<N, M> with the fixed path $path (const arguments are not part of the path).

Structs§

CuJointAStar: A* search over a joint-space lattice.
CuJointAStarParams: Parameters of CuJointAStar.
CuJointDirect: Straight joint-space line planner.
CuJointDirectParams: Parameters of CuJointDirect.
CuJointGoalParams: Node config of CuJointGoalTask.
CuJointGoalTask: Requests one plan from the measured joint state to a configured goal.
CuJointPathOptimizer: Deterministic anytime joint-path optimizer.
CuJointPathOptimizerParams: Parameters of CuJointPathOptimizer.
CuJointPlanPath: Planned joint-space path (CuMsgPayload-compliant).
CuJointPlanRequest: Joint-space planning request (CuMsgPayload-compliant).
CuJointPlannerDebugState: Compact progress snapshot for remote inspection.
CuJointPlannerParams: Node config of CuJointPlannerTask (and every CuJoint<Planner>Task alias): robot models, the planner’s own parameters, and work budgets.
CuJointPlannerTask: Anytime planning task (CuAnytimeTask) over any CuJointPlanner.
CuJointPrm: Probabilistic roadmap planner (single query per job).
CuJointPrmParams: Parameters of CuJointPrm.
CuJointRrtConnect: Bidirectional RRT-Connect planner.
CuJointRrtConnectParams: Parameters of CuJointRrtConnect.
CuJointStomp: Stochastic trajectory optimizer.
CuJointStompParams: Parameters of CuJointStomp.
CuPlanToTrajectoryTask: Times each published plan into a CuTrajectoryPayload<N, CAP>.
CuSceneValidity: Collision queries against one captured planning-scene snapshot.

Enums§

CuPlanStatus: Outcome of a planning job, carried by CuJointPlanPath.
CuPlannerKind: How a planner explores the configuration space.

Constants§

ASTAR_MAX_NODES: Lattice node capacity.
MAX_ATTACHED_SHAPES: Fixed capacity of attached shapes in a CuJointPlanRequest.
MAX_EXCLUSIONS: Fixed capacity of stable-ID exclusions in a CuJointPlanRequest.
MAX_OBSTACLES: Fixed capacity of scene obstacles in a CuJointPlanRequest.
MAX_WAYPOINTS: Fixed capacity of waypoints in a published CuJointPlanPath.
PRM_MAX_NEIGHBORS: Edge capacity per roadmap node.
PRM_MAX_NODES: Roadmap node capacity, including start and goal.
RRT_CONNECT_MAX_NODES: Node capacity of each of the two trees.
STOMP_MAX_ROLLOUTS: Rollout capacity per iteration.

Traits§

CuJointPlanner: A joint-space motion planner usable by CuJointPlannerTask.

Functions§

joint_distance: Joint-space L2 distance under metric (dimensionless, metric-scaled).

Type Aliases§

CuJointAStarTask: CuJointPlannerTask running CuJointAStar.
CuJointDirectTask: CuJointPlannerTask running CuJointDirect.
CuJointPathOptimizerTask: CuJointPlannerTask running CuJointPathOptimizer.
CuJointPrmTask: CuJointPlannerTask running CuJointPrm.
CuJointRrtConnectTask: CuJointPlannerTask running CuJointRrtConnect.
CuJointStompTask: CuJointPlannerTask running CuJointStomp.